Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool

Abstract

An end effector for a computer-assisted surgical system includes a mount configured to be coupled to an arm and a housing coupled to the mount and configured to interchangeably support a first operating member and a second operating member. When the housing supports the first operating member, the housing is configured to prevent translation of the first operating member relative to the mount. When the housing supports the second operating member, the housing is configured to allow translation of the second operating member relative to the mount along a first axis.

What is claimed is: 
     
       1. A surgical system, comprising:
 a robotic arm; 
 an end effector at a distal end of the robotic arm, the end effector configured to interchangeably support a first operating member and a second operating member; and 
 a controller configured to control the robotic arm using first logic when the end effector supports the first operating member and using second logic when the end effector supports the second operating member, the first logic different than the second logic; 
 wherein, when the end effector supports the second operating member, the end effector provides a passive joint. 
 
     
     
       2. The surgical system of  claim 1 , wherein when the end effector supports the first operating member, the end effector is configured to prevent translation of the first operating member relative to the distal end of the robotic arm. 
     
     
       3. The surgical system of  claim 1 , wherein the end effector is configured to provide the passive joint by allowing translation of the second operating member in a longitudinal direction of the second operating member. 
     
     
       4. The surgical system of  claim 3 , wherein the end effector is configured to provide the passive joint by preventing movement of the second operating member in a radial direction of the second operating member. 
     
     
       5. The surgical system of  claim 1 , wherein:
 when the end effector supports the first operating member, the end effector is configured to allow rotation of the first operating member; and 
 when the end effector supports the second operating member, the end effector is configured to allow rotation of the second operating member. 
 
     
     
       6. The surgical system of  claim 1 , wherein the first operating member comprises a cutting tool. 
     
     
       7. The surgical system of  claim 1 , wherein the second operating member comprises an impaction tool, and
 wherein the end effector protects the robotic arm from impaction forces exerted on the impaction tool by acting as the passive joint. 
 
     
     
       8. An end effector for a computer-assisted surgical system, comprising:
 a mount configured to be coupled to an arm; 
 a housing coupled to the mount and configured to interchangeably support a first operating member and a second operating member; 
 wherein:
 when the housing supports the first operating member, the housing is configured to prevent translation of the first operating member relative to the mount; 
 when the housing supports the second operating member, the housing is configured to allow translation of the second operating member relative to the mount along a first axis. 
 
 
     
     
       9. The end effector of  claim 8 , wherein, when the housing supports the first operating member, the housing is configured to allow rotation of the first operating member about a longitudinal axis of the housing. 
     
     
       10. The end effector of  claim 8 , wherein, when the housing supports the second operating member, the housing is configured to allow rotation of the second operating member about a longitudinal axis of the housing. 
     
     
       11. The end effector of  claim 8 , wherein the first axis is a longitudinal axis of the second operating member such that the housing acts as a sliding passive joint. 
     
     
       12. The end effector of  claim 11 , wherein acting as the sliding passive joints protects the end effector from an impaction force exerted on the second operating member. 
     
     
       13. The end effector of  claim 8 , wherein the housing comprises a recess configured to interchangeable receive the first operating member and the second operating member. 
     
     
       14. The end effector of  claim 13 , further comprising bearings positioned in the recess, wherein the bearings are configured to engage the first operating member to prevent translation of the first operating member along the first axis while allowing rotation of the first operating member around the first axis. 
     
     
       15. The end effector of  claim 14 , wherein the bearings facilitate the translation of the second operating member along the first axis while also allowing rotation of the second operating member around the first axis. 
     
     
       16. The end effector of  claim 8 , wherein the end effector is configured to limit a range of motion of second operating member along the first axis. 
     
     
       17. A method of operating a robotic system, comprising:
 coupling a first operating member to an end effector of a robotic arm such that the end effector prevents translation of the first operating member relative to the end effector; 
 performing a first step of a procedure with the first operating member while the first operating member is coupled to the robotic arm; 
 removing the first operating member from the end effector; 
 coupling a second operating member to the end effector such that the end effector allows translation of the second operating member relative to the end effector along a first axis; and 
 performing a second step of the procedure with the second operating member while the second operating member is coupled to the robotic arm. 
 
     
     
       18. The method of  claim 17 , wherein:
 the first operating member is a cutting tool; 
 the first step of the procedure comprises a cutting step; and 
 the second step of the procedure comprises installing an object in a planned pose. 
 
     
     
       19. The method of  claim 17 , further comprising controlling the robotic arm in a first way corresponding to the first step of the procedure when the first operating member is coupled to the end effector and controlling the robotic arm in a second way corresponding to the second step of the procedure when the second operating member is coupled to the end effector, the first way different than the second way.